Control System Architecture And Distributed Human-Machine Interface For Robot Control

Abstract

In response to a first condition in a first subsystem of a robot, a controller halts operation of the first subsystem; transmits a set command specifying a first notification to an interface system; obtains status information from the interface system; and, in response to the status information indicating that the first notification has a cleared status, resumes operation of the first subsystem. The interface system maintains a set of active notifications and tracks a set of devices configured to receive notifications. Each of the devices is associated with a respective operator. In response to receiving the set command, the interface system: adds the first notification to the set of active notifications; determines a subset of devices to receive the first notification; wirelessly transmits the first notification to the subset; and, in response to receiving a clear message specifying the first notification, sets the first notification to the cleared status.

1 . A robotics control system comprising:
 a robot controller for a robot; and   an interface system,   wherein the robot controller is configured to, in response to a first condition in a first subsystem of the robot:
 halt operation of the first subsystem; 
 transmit a set command specifying a first notification to the interface system; 
 obtain status information from the interface system regarding the first notification; and 
 in response to the status information indicating that the first notification has a cleared status, resume operation of the first subsystem; and 
   wherein the interface system is configured to:
 maintain a set of active notifications; 
 track a set of devices configured to receive notifications, wherein each of the set of devices is associated with a respective operator; and 
 in response to receiving the set command from the robot controller:
 add the first notification to the set of active notifications; 
 determine a first subset of devices of the set of devices to receive the first notification; 
 wirelessly transmit the first notification to the first subset of devices; and 
 in response to receiving a clear message specifying the first notification from one of the first subset of devices, set the first notification to the cleared status in the set of active notifications.